Welcome. I have had struggles with my parents, too, and I have found that I created a lot of it with my drinking, dishonesty, manipulation, and selfishness. I ended up back in my parents' house at the age of 25 and it was a daily struggle (I was still drinking and they drink heavily). I found no peace with my parents until I moved out, became (almost) financially independent, began a program of recovery and saw my mistakes in the relationships, and sincerely made amends to my parents.
I second the previous poster....if you can move out, do so. Try to negotiate a fair repayment plan and ask her to allow you to have control over your money so you can learn to budget. Good luck.